├── CMakeLists.txt ├── README.md ├── assets ├── 000000.png ├── 000001.png └── ros.gif ├── cloud └── segment │ ├── 1.pcd │ ├── 10.pcd │ ├── 11.pcd │ ├── 13.pcd │ ├── 14.pcd │ ├── 15.pcd │ ├── 16.pcd │ ├── 17.pcd │ ├── 18.pcd │ ├── 19.pcd │ ├── 2.pcd │ ├── 3.pcd │ ├── 4.pcd │ ├── 5.pcd │ ├── 6.pcd │ ├── 7.pcd │ └── 9.pcd ├── cmake ├── Color.cmake ├── ROS.cmake ├── TensorRT.cmake └── ThirdParty.cmake ├── config └── infer.yaml ├── describe ├── false_detail.txt ├── false_detail1.txt ├── postive_detail.txt └── postive_detail1.txt ├── include ├── DBSCAN_kdtree.h ├── DBSCAN_simple.h ├── FEC.h ├── common_lib.hpp ├── fast_euclidean_clustering.h ├── graph_match │ ├── KDTreeVectorOfVectorsAdaptor.h │ ├── matcher.cpp │ ├── matcher.hpp │ ├── nanoflann.hpp │ ├── neighborhood.cpp │ ├── neighborhood.hpp │ ├── registration.cpp │ └── registration.hpp ├── ikd-Tree │ ├── README.md │ ├── ikd_Tree.cpp │ └── ikd_Tree.h ├── net.hpp ├── netTensorRT.hpp └── tic_toc.hpp ├── launch ├── graph_edge.rviz ├── kitti.launch ├── mcd.launch ├── mulrun.launch ├── ros1.rviz ├── ros2.rviz └── ros_g.rviz ├── lib └── libsemgraph.so ├── model ├── arch_cfg.yaml ├── data_cfg.yaml └── label_map.yaml ├── package.xml └── src ├── network ├── net.cpp └── netTensorRT.cpp ├── ops ├── cuda_utils.hpp ├── project.cpp ├── project.hpp ├── project_kernel.cu └── project_kernel.hpp ├── realtime_demo.cpp ├── realtime_demo_mcd.cpp ├── realtime_demo_mulrun.cpp └── utils ├── pointcloud_io.cpp ├── pointcloud_io.h ├── postprocess.cpp ├── postprocess.hpp ├── vector_io.cpp └── vector_io.hpp /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/README.md -------------------------------------------------------------------------------- /assets/000000.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/assets/000000.png -------------------------------------------------------------------------------- /assets/000001.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/assets/000001.png -------------------------------------------------------------------------------- /assets/ros.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/assets/ros.gif -------------------------------------------------------------------------------- /cloud/segment/1.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/cloud/segment/1.pcd -------------------------------------------------------------------------------- /cloud/segment/10.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/cloud/segment/10.pcd -------------------------------------------------------------------------------- /cloud/segment/11.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/cloud/segment/11.pcd -------------------------------------------------------------------------------- /cloud/segment/13.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/cloud/segment/13.pcd -------------------------------------------------------------------------------- /cloud/segment/14.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/cloud/segment/14.pcd -------------------------------------------------------------------------------- /cloud/segment/15.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/cloud/segment/15.pcd -------------------------------------------------------------------------------- /cloud/segment/16.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/cloud/segment/16.pcd -------------------------------------------------------------------------------- /cloud/segment/17.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/cloud/segment/17.pcd -------------------------------------------------------------------------------- /cloud/segment/18.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/cloud/segment/18.pcd -------------------------------------------------------------------------------- /cloud/segment/19.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/cloud/segment/19.pcd -------------------------------------------------------------------------------- /cloud/segment/2.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/cloud/segment/2.pcd -------------------------------------------------------------------------------- /cloud/segment/3.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/cloud/segment/3.pcd -------------------------------------------------------------------------------- /cloud/segment/4.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/cloud/segment/4.pcd -------------------------------------------------------------------------------- /cloud/segment/5.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/cloud/segment/5.pcd -------------------------------------------------------------------------------- /cloud/segment/6.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/cloud/segment/6.pcd -------------------------------------------------------------------------------- /cloud/segment/7.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/cloud/segment/7.pcd -------------------------------------------------------------------------------- /cloud/segment/9.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/cloud/segment/9.pcd -------------------------------------------------------------------------------- /cmake/Color.cmake: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/cmake/Color.cmake -------------------------------------------------------------------------------- /cmake/ROS.cmake: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/cmake/ROS.cmake -------------------------------------------------------------------------------- /cmake/TensorRT.cmake: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/cmake/TensorRT.cmake -------------------------------------------------------------------------------- /cmake/ThirdParty.cmake: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/cmake/ThirdParty.cmake -------------------------------------------------------------------------------- /config/infer.yaml: -------------------------------------------------------------------------------- 1 | # 相对于工程根目录 2 | DATA_PATH: "data/000000.pcd" 3 | 4 | -------------------------------------------------------------------------------- /describe/false_detail.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/describe/false_detail.txt -------------------------------------------------------------------------------- /describe/false_detail1.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/describe/false_detail1.txt -------------------------------------------------------------------------------- /describe/postive_detail.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/describe/postive_detail.txt -------------------------------------------------------------------------------- /describe/postive_detail1.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/describe/postive_detail1.txt -------------------------------------------------------------------------------- /include/DBSCAN_kdtree.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/include/DBSCAN_kdtree.h -------------------------------------------------------------------------------- /include/DBSCAN_simple.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/include/DBSCAN_simple.h -------------------------------------------------------------------------------- /include/FEC.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/include/FEC.h -------------------------------------------------------------------------------- /include/common_lib.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/include/common_lib.hpp -------------------------------------------------------------------------------- /include/fast_euclidean_clustering.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/include/fast_euclidean_clustering.h -------------------------------------------------------------------------------- /include/graph_match/KDTreeVectorOfVectorsAdaptor.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/include/graph_match/KDTreeVectorOfVectorsAdaptor.h -------------------------------------------------------------------------------- /include/graph_match/matcher.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/include/graph_match/matcher.cpp -------------------------------------------------------------------------------- /include/graph_match/matcher.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/include/graph_match/matcher.hpp -------------------------------------------------------------------------------- /include/graph_match/nanoflann.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/include/graph_match/nanoflann.hpp -------------------------------------------------------------------------------- /include/graph_match/neighborhood.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/include/graph_match/neighborhood.cpp -------------------------------------------------------------------------------- /include/graph_match/neighborhood.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/include/graph_match/neighborhood.hpp -------------------------------------------------------------------------------- /include/graph_match/registration.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/include/graph_match/registration.cpp -------------------------------------------------------------------------------- /include/graph_match/registration.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/include/graph_match/registration.hpp -------------------------------------------------------------------------------- /include/ikd-Tree/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/include/ikd-Tree/README.md -------------------------------------------------------------------------------- /include/ikd-Tree/ikd_Tree.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/include/ikd-Tree/ikd_Tree.cpp -------------------------------------------------------------------------------- /include/ikd-Tree/ikd_Tree.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/include/ikd-Tree/ikd_Tree.h -------------------------------------------------------------------------------- /include/net.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/include/net.hpp -------------------------------------------------------------------------------- /include/netTensorRT.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/include/netTensorRT.hpp -------------------------------------------------------------------------------- /include/tic_toc.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/include/tic_toc.hpp -------------------------------------------------------------------------------- /launch/graph_edge.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/launch/graph_edge.rviz -------------------------------------------------------------------------------- /launch/kitti.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/launch/kitti.launch -------------------------------------------------------------------------------- /launch/mcd.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/launch/mcd.launch -------------------------------------------------------------------------------- /launch/mulrun.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/launch/mulrun.launch -------------------------------------------------------------------------------- /launch/ros1.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/launch/ros1.rviz -------------------------------------------------------------------------------- /launch/ros2.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/launch/ros2.rviz -------------------------------------------------------------------------------- /launch/ros_g.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/launch/ros_g.rviz -------------------------------------------------------------------------------- /lib/libsemgraph.so: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/lib/libsemgraph.so -------------------------------------------------------------------------------- /model/arch_cfg.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/model/arch_cfg.yaml -------------------------------------------------------------------------------- /model/data_cfg.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/model/data_cfg.yaml -------------------------------------------------------------------------------- /model/label_map.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/model/label_map.yaml -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/package.xml -------------------------------------------------------------------------------- /src/network/net.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/src/network/net.cpp -------------------------------------------------------------------------------- /src/network/netTensorRT.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/src/network/netTensorRT.cpp -------------------------------------------------------------------------------- /src/ops/cuda_utils.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/src/ops/cuda_utils.hpp -------------------------------------------------------------------------------- /src/ops/project.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/src/ops/project.cpp -------------------------------------------------------------------------------- /src/ops/project.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/src/ops/project.hpp -------------------------------------------------------------------------------- /src/ops/project_kernel.cu: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/src/ops/project_kernel.cu -------------------------------------------------------------------------------- /src/ops/project_kernel.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/src/ops/project_kernel.hpp -------------------------------------------------------------------------------- /src/realtime_demo.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/src/realtime_demo.cpp -------------------------------------------------------------------------------- /src/realtime_demo_mcd.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/src/realtime_demo_mcd.cpp -------------------------------------------------------------------------------- /src/realtime_demo_mulrun.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/src/realtime_demo_mulrun.cpp -------------------------------------------------------------------------------- /src/utils/pointcloud_io.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/src/utils/pointcloud_io.cpp -------------------------------------------------------------------------------- /src/utils/pointcloud_io.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/src/utils/pointcloud_io.h -------------------------------------------------------------------------------- /src/utils/postprocess.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/src/utils/postprocess.cpp -------------------------------------------------------------------------------- /src/utils/postprocess.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/src/utils/postprocess.hpp -------------------------------------------------------------------------------- /src/utils/vector_io.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/src/utils/vector_io.cpp -------------------------------------------------------------------------------- /src/utils/vector_io.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ROBOT-WSC/SGT-LLC/HEAD/src/utils/vector_io.hpp --------------------------------------------------------------------------------